﻿using System;
using System.Linq;
using System.Collections.Generic;
using System.Text;

namespace RobotCtrl
{
    public enum STATUS_REG : byte
    {
        MotorOff    = 0x80, //1000'0000 --> 1 when motor drive Output off
        BUSY        = 0x01  //0000'0001 --> 0 when ready (prior to read and write data)
    }

    public enum CMDS : byte
    {
        LTRJ        = 0x1F,  //1000'1111 --> Load trajectory parameters (Bewegungsparam)
        STT         = 0x01,  //0000'0001 --> Start Motion Control (Execute what has been set with LTRJ)
        RDRP        = 0x0A   //0000'1010 --> RDRP (ReaD Real Position, 4 Bytes to read)
    }

    public enum TRAJ_PARAMS : short
    {
        PositionDataIsRelative      = 0x0001,  
        PositionWillBeLoaded        = 0x0002,  
        VelocityDataIsRelative      = 0x0004,   //If in velocity mode
        VelocityWillBeLoaded        = 0x0008,
        AccelerationDataIsRelative  = 0x0010,
        AccelerationWillBeLoaded    = 0x0020,

        TurnOffMotor        = 0x0100,   //* only one of those 3 at a time
        StopAbrubtly        = 0x0200,   //* "
        StopSmoothly        = 0x0400,   //* "
        VelocityMode        = 0x0800,
        ForwardDirection    = 0x1000
    }

}
